fix(obstacle_avoidance_planner): empty points handling (tier4#1070)

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
boyali · Oct 3, 2022 · 3e9843d · 3e9843d
1 parent f9381b5
commit 3e9843d
Showing 1 changed file with 4 additions and 0 deletions.
diff --git a/planning/obstacle_avoidance_planner/src/node.cpp b/planning/obstacle_avoidance_planner/src/node.cpp
@@ -1105,6 +1105,10 @@ void ObstacleAvoidancePlanner::insertZeroVelocityOutsideDrivableArea(
   std::vector<autoware_auto_planning_msgs::msg::TrajectoryPoint> & traj_points,
   const CVMaps & cv_maps)
 {
+  if (traj_points.empty()) {
+    return;
+  }
+
   stop_watch_.tic(__func__);
 
   const auto & map_info = cv_maps.map_info;